A New Hybrid Model Predictive Controller Design for Adaptive Cruise of Autonomous Electric Vehicles

Table 13

Performance in the go-stop condition.

Go-stop condition
	MPC_Quadprog	MPC_SDNN	Switch	Incremental PID
Average speed error (absolute value) (km/h)	0.0242	0.0108	0.0121	0.0003
Root-mean-square of speed error	1.5797	1.7140	2.5491	0.3703
Average distance error (absolute value) (m)	0.0399	0.0143	0.5207	4.3696
Root-mean-square of distance error	1.7811	1.3550	1.2963	6.1211
Simulation time (s)	4112.4813	3150.5771	2971.6121	2753.1442